{"id":"https://openalex.org/W7163130480","doi":"https://doi.org/10.48550/arxiv.2606.00998","title":"GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping","display_name":"GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping","publication_year":2026,"publication_date":"2026-05-31","ids":{"openalex":"https://openalex.org/W7163130480","doi":"https://doi.org/10.48550/arxiv.2606.00998"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.00998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.00998","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082075906","display_name":"Beining Han","orcid":"https://orcid.org/0009-0007-8980-1259"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Beining","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137629131","display_name":"Yu-Wei Chao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chao, Yu-Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083125607","display_name":"Erwin Coumans","orcid":"https://orcid.org/0000-0001-6695-3400"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Coumans, Erwin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076300410","display_name":"Clemens Eppner","orcid":"https://orcid.org/0000-0002-5398-4037"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Eppner, Clemens","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053446613","display_name":"Balakumar Sundaralingam","orcid":"https://orcid.org/0000-0003-3106-4755"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sundaralingam, Balakumar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101480290","display_name":"Jia Deng","orcid":"https://orcid.org/0009-0003-8196-7749"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Jia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133604350","display_name":"Stan Birchfield","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Birchfield, Stan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5114179160","display_name":"Adithyavairavan Murali","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Murali, Adithyavairavan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.00279999990016222,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.002099999925121665,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.9387000203132629},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6468999981880188},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6100999712944031},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5925999879837036},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5641000270843506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5608000159263611},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.39340001344680786}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9387000203132629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.696399986743927},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6468999981880188},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6100999712944031},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5925999879837036},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5755000114440918},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5641000270843506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5608000159263611},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41290000081062317},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.39340001344680786},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.36390000581741333},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3490000069141388},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3303000032901764},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31940001249313354},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.00998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.00998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.00998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,49,58],"study":[1],"cross-embodiment":[2,61,140],"6-DOF":[3,39,135],"robot":[4],"grasping.":[5],"Unlike":[6],"prior":[7],"works,":[8],"we":[9,110,126],"require":[10],"the":[11,45,56,80,112],"model":[12,36,62,78,94],"not":[13],"only":[14],"to":[15,17,24,42,84,103,105,130],"generalize":[16],"novel":[18,25,85,106,132],"objects":[19,89],"/":[20],"scenes":[21],"but":[22],"also":[23,95],"gripper":[26,117,122],"morphologies":[27],"and":[28,66,88,119],"physical":[29],"grasping":[30,40],"processes.":[31],"Our":[32,93],"method":[33],"extends":[34],"diffusion":[35],"based":[37],"generative":[38],"models":[41],"condition":[43],"on":[44],"additional":[46],"gripper's":[47],"representation.":[48],"propose":[50],"a":[51,67,98],"swept-volume":[52],"heuristic":[53],"for":[54,101,134],"encoding":[55],"gripper.":[57],"train":[59],"our":[60,77,115,120],"with":[63],"procedural":[64,121],"grippers":[65,87,133],"large-scale":[68],"dataset":[69],"of":[70,114],"2":[71],"Billion":[72],"grasps.":[73],"In":[74,108],"simulation":[75],"experiments,":[76],"has":[79],"best":[81],"zero-shot":[82,128],"generalization":[83,129],"real-world":[86,131],"over":[90],"baseline":[91],"methods.":[92],"serves":[96],"as":[97],"good":[99],"initialization":[100],"fine-tuning":[102],"adapt":[104],"grippers.":[107],"ablations,":[109],"demonstrate":[111],"efficiency":[113],"sweep-volume":[116],"representation":[118],"training":[123],"dataset.":[124],"Last,":[125],"show":[127],"grasping,":[136],"surpassing":[137],"baselines":[138],"in":[139],"generalization.":[141]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-03T00:00:00"}